ctl::Ctl Class Reference

Controller implementation using GNC module. More...

#include <ctl_ros.h>

Public Types
enum	: ff_util::FSM::State { WAITING = 1, NOMINAL = 2, STOPPING = 3 }
enum	: ff_util::FSM::Event { GOAL_COMPLETE = (1<<0), GOAL_NOMINAL = (1<<1), GOAL_CANCEL = (1<<2), GOAL_STOP = (1<<3) }

Public Member Functions
	Ctl (ros::NodeHandle *nh, std::string const &name)
	~Ctl ()
FSM::State	Result (int32_t response)
bool	EnableCtl (std_srvs::SetBoolRequest &req, std_srvs::SetBoolResponse &response)
void	UpdateCallback (FSM::State const &state, FSM::Event const &event)
void	EkfCallback (const ff_msgs::EkfState::ConstPtr &state)
void	PoseCallback (const geometry_msgs::PoseStamped::ConstPtr &truth)
void	TwistCallback (const geometry_msgs::TwistStamped::ConstPtr &truth)
void	InertiaCallback (const geometry_msgs::InertiaStamped::ConstPtr &inertia)
void	ControlTimerCallback (const ros::TimerEvent &event)
void	FlightModeCallback (const ff_msgs::FlightMode::ConstPtr &mode)
void	SetpointCallback (const ff_msgs::ControlState::ConstPtr &command)
void	TimerCallback (const ros::TimerEvent &event)
void	GoalCallback (ff_msgs::ControlGoalConstPtr const &control_goal)
void	PreemptCallback ()
void	CancelCallback ()
bool	Command (uint8_t const mode, ff_msgs::ControlCommand const &poseVel=ff_msgs::ControlCommand())
bool	Step (ros::Time curr_time)
void	ReadParams (void)
std::string	getName ()

Static Public Attributes
static constexpr double	MAX_LATENCY = 0.5

Detailed Description

Controller implementation using GNC module.

Controller implementation using GNC module

Member Enumeration Documentation

anonymous enum

anonymous enum : ff_util::FSM::State

Enumerator
WAITING
NOMINAL
STOPPING

anonymous enum

anonymous enum : ff_util::FSM::Event

Enumerator
GOAL_COMPLETE
GOAL_NOMINAL
GOAL_CANCEL
GOAL_STOP

Constructor & Destructor Documentation

Ctl()

ctl::Ctl::Ctl ( ros::NodeHandle *  nh, std::string const &  name  )

explicit

Ctl allocate, register, initialize model

~Ctl()

ctl::Ctl::~Ctl

(

)

destruct model

Member Function Documentation

CancelCallback()

void ctl::Ctl::CancelCallback

(

)

Command()

bool ctl::Ctl::Command	(	uint8_t const	mode,
		ff_msgs::ControlCommand const &	poseVel = ff_msgs::ControlCommand()
	)

ControlTimerCallback()

void ctl::Ctl::ControlTimerCallback

(

const ros::TimerEvent &

event

)

EkfCallback()

void ctl::Ctl::EkfCallback

(

const ff_msgs::EkfState::ConstPtr &

state

)

EnableCtl()

bool ctl::Ctl::EnableCtl	(	std_srvs::SetBoolRequest &	req,
		std_srvs::SetBoolResponse &	response
	)

FlightModeCallback()

void ctl::Ctl::FlightModeCallback

(

const ff_msgs::FlightMode::ConstPtr &

mode

)

getName()

std::string ctl::Ctl::getName

(

)

GoalCallback()

void ctl::Ctl::GoalCallback

(

ff_msgs::ControlGoalConstPtr const &

control_goal

)

InertiaCallback()

void ctl::Ctl::InertiaCallback

(

const geometry_msgs::InertiaStamped::ConstPtr &

inertia

)

PoseCallback()

void ctl::Ctl::PoseCallback

(

const geometry_msgs::PoseStamped::ConstPtr &

truth

)

PreemptCallback()

void ctl::Ctl::PreemptCallback

(

)

ReadParams()

void ctl::Ctl::ReadParams

(

void

)

Result()

FSM::State ctl::Ctl::Result

(

int32_t

response

)

SetpointCallback()

void ctl::Ctl::SetpointCallback

(

const ff_msgs::ControlState::ConstPtr &

command

)

Step()

bool ctl::Ctl::Step

(

ros::Time

curr_time

)

TimerCallback()

void ctl::Ctl::TimerCallback

(

const ros::TimerEvent &

event

)

TwistCallback()

void ctl::Ctl::TwistCallback

(

const geometry_msgs::TwistStamped::ConstPtr &

truth

)

UpdateCallback()

void ctl::Ctl::UpdateCallback	(	FSM::State const &	state,
		FSM::Event const &	event
	)

Member Data Documentation

MAX_LATENCY

constexpr double ctl::Ctl::MAX_LATENCY = 0.5

staticconstexpr

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The documentation for this class was generated from the following files:

• gnc/ctl/include/ctl/ctl_ros.h
• gnc/ctl/src/ctl_ros.cc